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SPAN-CPT User Manual Rev 8 3
Table of Contents
Customer Support 7
Notices 8
1 Introduction 11
1.1 Fundamentals of GNSS+INS................................................................................................11
1.2 System Components.............................................................................................................12
1.3 Related Documents and Information ....................................................................................12
1.4 Conventions..........................................................................................................................12
2 SPAN-CPT Installation 13
2.1 Required Equipment .............................................................................................................13
2.1.1 Manuals.......................................................................................................................13
2.1.2 SPAN-CPT Hardware..................................................................................................13
2.2 Hardware Set Up ..................................................................................................................14
2.2.1 Mount the Antenna ......................................................................................................15
2.2.2 Mount the SPAN-CPT .................................................................................................15
2.2.3 Connect the GNSS Antenna........................................................................................16
2.2.4 Connect Power............................................................................................................16
2.2.5 Connect a Computer to the SPAN-CPT ......................................................................17
2.2.6 Connect the I/O Strobe Signals...................................................................................17
2.2.7 CAN Bus......................................................................................................................18
2.2.8 Odometer Connection .................................................................................................18
3 SPAN-CPT Operation 20
3.1 Definition of Reference Frames Within SPAN ......................................................................20
3.1.1 Local Level Frame.......................................................................................................20
3.1.2 SPAN Body Frame ......................................................................................................21
3.1.3 Enclosure Frame .........................................................................................................22
3.1.4 Vehicle Frame .............................................................................................................22
3.2 Communicating with the SPAN-CPT System .......................................................................23
3.2.1 Use NovAtel Connect to Communicate.......................................................................23
3.2.2 INS Window in NovAtel Connect.................................................................................24
3.3 Software Configuration .........................................................................................................25
3.3.1 GNSS Configuration....................................................................................................25
3.3.2 SPAN IMU Configuration.............................................................................................25
3.4 Real Time Operation.............................................................................................................26
3.4.1 System Start-Up and Alignment Techniques...............................................................27
3.4.2 Navigation Mode..........................................................................................................29
3.4.3 Vehicle to SPAN-CPT Frame Angular Offsets Calibration Routine.............................29
3.4.4 SPAN-CPT Wheel Sensor...........................................................................................30
3.5 Azimuth Sources on a SPAN System...................................................................................30
3.5.1 Course Over Ground ...................................................................................................30
3.5.2 Inertial Azimuth............................................................................................................31
3.5.3 ALIGN Azimuth............................................................................................................31
3.6 Data Collection......................................................................................................................32
3.7 Data Collection for Post-Processing .....................................................................................33
3.8 Variable Lever Arm ...............................................................................................................34
3.9 Enabling L-Band ...................................................................................................................34
3.9.1 NovAtel CORRECT™ with TerraStar™ ......................................................................34
3.9.2 Veripos Marine Subscriptions......................................................................................35
3.9.3 OmniSTAR ..................................................................................................................35